Followed the following blogs for configuring authentication and ConfiguredGraphFactory respectively.

Still, both of them are not working. Sharing the property files. 

gremlin-server.yaml

# Copyright 2019 JanusGraph Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

host: 0.0.0.0
port: 8182
scriptEvaluationTimeout: 30000
channelizer: org.apache.tinkerpop.gremlin.server.channel.WsAndHttpChannelizer
graphManager: org.janusgraph.graphdb.management.JanusGraphManager
graphs: {
  ConfigurationManagementGraph: conf/janusgraph-cql-configurationgraph.properties,
 graph: conf/graph.properties,
 graph1: conf/graph1.properties,
 graph2: conf/graph2.properties
}

authentication: {
  authenticator: org.janusgraph.graphdb.tinkerpop.gremlin.server.auth.SaslAndHMACAuthenticator,
  authenticationHandler: org.janusgraph.graphdb.tinkerpop.gremlin.server.handler.SaslAndHMACAuthenticationHandler,
  config: {
    #defaultUsername: user,
    #defaultPassword: password,
    hmacSecret: secret,
    credentialsDb: conf/janusgraph-credentials-server.properties
  }
}
scriptEngines: {
  gremlin-groovy: {
    plugins: { org.janusgraph.graphdb.tinkerpop.plugin.JanusGraphGremlinPlugin: {},
               org.apache.tinkerpop.gremlin.server.jsr223.GremlinServerGremlinPlugin: {},
               org.apache.tinkerpop.gremlin.tinkergraph.jsr223.TinkerGraphGremlinPlugin: {},
               org.apache.tinkerpop.gremlin.jsr223.ImportGremlinPlugin: {classImports: [java.lang.Math], methodImports: [java.lang.Math#*]},
               org.apache.tinkerpop.gremlin.jsr223.ScriptFileGremlinPlugin: {files: []}}}}
serializers:
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GryoMessageSerializerV3d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GryoMessageSerializerV3d0, config: { serializeResultToString: true }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GraphSONMessageSerializerV3d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}

 # Older serialization versions for backward compatibility:
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GryoMessageSerializerV1d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GryoLiteMessageSerializerV1d0, config: {ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GryoMessageSerializerV1d0, config: { serializeResultToString: true }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GraphSONMessageSerializerGremlinV2d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistry] }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GraphSONMessageSerializerGremlinV1d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistryV1d0] }}
  - { className: org.apache.tinkerpop.gremlin.driver.ser.GraphSONMessageSerializerV1d0, config: { ioRegistries: [org.janusgraph.graphdb.tinkerpop.JanusGraphIoRegistryV1d0] }}
processors:
  - { className: org.apache.tinkerpop.gremlin.server.op.session.SessionOpProcessor, config: { sessionTimeout: 28800000 }}
  - { className: org.apache.tinkerpop.gremlin.server.op.traversal.TraversalOpProcessor, config: { cacheExpirationTime: 600000, cacheMaxSize: 1000 }}
metrics: {
  consoleReporter: {enabled: true, interval: 180000},
  csvReporter: {enabled: true, interval: 180000, fileName: /tmp/gremlin-server-metrics.csv},
  jmxReporter: {enabled: true},
  slf4jReporter: {enabled: true, interval: 180000},
  gangliaReporter: {enabled: false, interval: 180000, addressingMode: MULTICAST},
  graphiteReporter: {enabled: false, interval: 180000}}
maxInitialLineLength: 4096
maxHeaderSize: 8192
maxChunkSize: 8192
maxContentLength: 65536
maxAccumulationBufferComponents: 1024
resultIterationBatchSize: 64
writeBufferLowWaterMark: 32768
writeBufferHighWaterMark: 65536

janusgraph-cql-configurationgraph.properties

# Copyright 2019 JanusGraph Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# JanusGraph configuration sample: Cassandra over a socket
#
# This file connects to a Cassandra daemon running on localhost via
# CQL.  Cassandra must already be started before starting JanusGraph
# with this file.

gremlin.graph=org.janusgraph.core.ConfiguredGraphFactory

# The primary persistence provider used by JanusGraph.  This is required.
# It should be set one of JanusGraph's built-in shorthand names for its
# standard storage backends (shorthands: berkeleyje, cql, cassandrathrift,
# cassandra, astyanax, embeddedcassandra, hbase, inmemory) or to the full
# package and classname of a custom/third-party StoreManager
# implementation.
#
# Default:    (no default value)
# Data Type:  String
# Mutability: LOCAL
storage.backend=cql

# The configuration management graph reserved for use with JanusGraphManager
# and ConfiguredGraphFactory
graph.graphname=ConfigurationManagementGraph
# The hostname or comma-separated list of hostnames of storage backend
# servers.  This is only applicable to some storage backends, such as
# cassandra and hbase.
#
# Default:    127.0.0.1
# Data Type:  class java.lang.String[]
# Mutability: LOCAL
storage.hostname=127.0.0.1

# Whether to enable JanusGraph's database-level cache, which is shared
# across all transactions. Enabling this option speeds up traversals by
# holding hot graph elements in memory, but also increases the likelihood
# of reading stale data.  Disabling it forces each transaction to

# holding hot graph elements in memory, but also increases the likelihood
# of reading stale data.  Disabling it forces each transaction to
# independently fetch graph elements from storage before reading/writing
# them.
#
# Default:    false
# Data Type:  Boolean
# Mutability: MASKABLE
cache.db-cache = true

# How long, in milliseconds, database-level cache will keep entries after
# flushing them.  This option is only useful on distributed storage
# backends that are capable of acknowledging writes without necessarily
# making them immediately visible.
#
# Default:    50
# Data Type:  Integer
# Mutability: GLOBAL_OFFLINE
#
# Settings with mutability GLOBAL_OFFLINE are centrally managed in
# JanusGraph's storage backend.  After starting the database for the first
# time, this file's copy of this setting is ignored.  Use JanusGraph's
# Management System to read or modify this value after bootstrapping.
cache.db-cache-clean-wait = 20

# Default expiration time, in milliseconds, for entries in the
# database-level cache. Entries are evicted when they reach this age even
# if the cache has room to spare. Set to 0 to disable expiration (cache
# entries live forever or until memory pressure triggers eviction when set
# to 0).
#
# Default:    10000
# Data Type:  Long
# Mutability: GLOBAL_OFFLINE
#
# Settings with mutability GLOBAL_OFFLINE are centrally managed in
# JanusGraph's storage backend.  After starting the database for the first
# time, this file's copy of this setting is ignored.  Use JanusGraph's
# Management System to read or modify this value after bootstrapping.
cache.db-cache-time = 180000

# Size of JanusGraph's database level cache.  Values between 0 and 1 are
# interpreted as a percentage of VM heap, while larger values are
# interpreted as an absolute size in bytes.
#
# Default:    0.3
# Data Type:  Double
# Mutability: MASKABLE
cache.db-cache-size = 0.5

Error:

gremlin> :remote connect tinkerpop.server conf/remote.yaml session
==>Configured localhost/127.0.0.1:8182-[8671c17b-e724-484a-aa9f-6b0d255b5ded]
gremlin> :remote console
==>All scripts will now be sent to Gremlin Server - [localhost/127.0.0.1:8182]-[8671c17b-e724-484a-aa9f-6b0d255b5ded] - type ':remote console' to return to local mode
gremlin> ConfiguredGraphFactory.getGraphNames()
Please add a key named "ConfigurationManagementGraph" to the "graphs" property in your YAML file and restart the server to be able to use the functionality of the ConfigurationManagementGraph class.

Request you to check and help me to solve the issue.

Thanks & Regards,

Vinayak